Modeling and Control System Design for a UAV Helicopter
- 1 June 2006
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
Abstract
We present in this paper a linearized hovering model of a UAV helicopter obtained using the in-flight data generated through a perturbation method. The UAV helicopter is constructed from a radio-controlled helicopter by integrating an onboard system, which includes a data processing unit, a data acquisition system, a wireless communications and all necessary sensors. A flight control law is then designed using a newly developed nonlinear control technique, i.e. the composite nonlinear feedback control. Actual flight testing shows that the design is successfulKeywords
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